CN103957832B - Endoscope's registration of vascular tree image - Google Patents
Endoscope's registration of vascular tree image Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
- A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
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- G06—COMPUTING; CALCULATING OR COUNTING
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- G06T2207/30004—Biomedical image processing
- G06T2207/30101—Blood vessel; Artery; Vein; Vascular
Abstract
A kind of figure registration system, endoscope (12) and endoscope's controller (22).In operation, endoscope (12) generates the vascular tree in anatomic region (such as, arterial tree or venous tree) art in endoscopic images (14), and the preoperative 3-D view (44) of the vascular tree in endoscopic images in the art of vascular tree (14) and anatomic region carries out image registration by endoscope's controller (22).Described image registration includes that the figure of each bifurcated of the vascular tree in the art to vascular tree in endoscopic images (14) represents the figured images match of each bifurcated with the vascular tree in the preoperative 3-D view (44) of vascular tree.
Description
The application advocates entitled " the Robotic Control of an of JIUYUE in 2011 submission on the 13rd
Endoscope from Blood Vessel Tree Images " Co-pending Patent application
The right of PCT/IB2011/053998.
Technical field
The present invention relates generally to preoperative three-dimensional (" 3D ") vascular tree image and endoscopic vessel in art
Art between tree Image registrates.Present invention relates particularly to for solving during crown surgical procedures
Certainly the art of any change in the topological structure of vascular tree registrates merging method.
Background technology
Coronary artery bypass grafting (" CABG ") is the surgery hands of the reconstructing blood vessel of blocked coronary arteries
Art process.About 500,000 example operations are performed every year in the U.S..In conventional CABG, patient's
Breastbone is opened, and the heart of patient is fully exposed in surgeon.Although heart exposes, by
Fat tissue layer above tremulous pulse, some tremulous pulsies can be that part is sightless.For such tremulous pulse,
Surgeon with palpation heart surface, and can feel the blood pulses from tremulous pulse and stricture of artery.
But, this data sparseness, and may be not enough to surgical operation planning is transferred to surgical site.
In minimally-invasive CABG, due to surgeon can not palpation heart surface, therefore amplify
The foregoing problems of conventional CABG.Extraly, the surgical operation device in minimally-invasive CAB
The length of tool stops any sense of touch from instrument near-end to be fed back.
It is that position in art is preced with preoperative 3D for solving a known technology of conventional CABG problem
Shape arterial tree registrates.Specifically, optical tracking pointer is used for making to move in open cardiac environment
The position digital of arteries and veins, and use iterative closest point known in the art (" ICP ") algorithm by position
Registration of Measuring Data is to preoperative tree.But, because of the space constraint applied by osculum turnover, and mate numeral
Changing tremulous pulse the same with any relational approach of pre-operative data, this technology for minimally-invasive CABG is
Unpractiaca.It addition, this technology require most of tremulous pulsies be visible or can by surgeon's palpation,
This is impossible in minimally-invasive CABG.
It is to implement method for registering for solving a known technology of minimally-invasive CABG problem,
In described method for registering, optical tracking endoscope is used to rebuild heart surface, and by itself and identical table
Preoperative computer tomography (" the CT ") data in face are mated.But, if for derived table
The endoscopic views in face is the least, this technology with propose coupling based on surface any relational approach as,
May failure.And, when when not having heart surface relative smooth in the case of particular surface feature,
The algorithm of this technology generally operates in the suboptimum local maximum of algorithm.
It is to use previous mark situation for solving another known technology of minimally-invasive CABG problem
The crown tree extracted from new patient is marked with data base based on Graphic Pattern Matching.But, the completeest
Full tree is available, and this technology just operates, and its objective is labelled tree rather than coupling geometry knot
Structure.
Once arriving the global position about preoperative 3D rendering, the another of minimally-invasive CABG is asked
The orientation of Ti Shi endoscope and guiding.The purpose of registration is easy for anastomotic position and narrow location.?
In standard facility, when surgeon holds two apparatuses, endoscope just held by auxiliary device.Surgery
Doctor sends order to auxiliary device, and auxiliary device moves endoscope accordingly.Due to auxiliary device
Need intuitively the surgical order generally sent to be transformed into auxiliary dress in surgeon's reference frame
Putting reference frame and endoscope's reference frame, this kind of equipment hinders surgical trick to work in coordination with.Multiple coordinates
System can cause various process mistake, extends surgical operation or causes wrong identification coronarius.
It is designed to allow surgeon and directly controls via the movement of the surgeon's head sensed interior
The surgical endoscope auxiliary device of sight glass, by being removed from control loop by auxiliary device, can solve
Certainly some in those problems, but the conversion between surgeon's reference frame and endoscope's reference frame is asked
Topic is still.
Summary of the invention
The present invention is provided to coupling the most three-dimensional (" 3D ") image (such as, CT image, cone
Shape beam CT image, 3D X-ray image or MRI image) and art in shown in endoscopic images
Each bifurcated (such as, tremulous pulse, blood capillary, vein and other multi-brancheds dissection knot at vascular tree
Each point of structure) figured method for registering images.Method for registering images can also solve outside
Any change in the topological structure of vascular tree of section's operation process (especially CABG) period.
For purposes of the present invention, the terms " bifurcated " is defined broadly as dividing along vascular tree
Become any point of two or more branches.
One form of the present invention is to use endoscope and the registration arrangement of endoscope's controller.In operation
In, endoscope generates the vascular tree in anatomic region, and (such as, arterial tree, venous tree or human body are any
Other tubular structures) art in endoscopic images, and endoscope's controller image is by the art of vascular tree
Middle operation endoscopic images registrates with the preoperative 3-D view of vascular tree.Image registration includes blood
What in the art of Guan Shu, the figure of each bifurcated of the vascular tree in endoscopic images represented with vascular tree is preoperative
The figured images match of each bifurcated of the vascular tree in 3-D view.
The second form of the present invention is method for registering images, and described method for registering images relates to anatomic region
In the generation of preoperative 3-D view of vascular tree, the Shu Zhong endoscope figure of vascular tree in anatomic region
The generation of picture and the figure to endoscopic images in the art of vascular tree Yu the preoperative 3-D view of vascular tree
As registration.Image registration includes each bifurcated of the vascular tree in the art to vascular tree in endoscopic images
Figure represent the figured of each bifurcated with the vascular tree in the preoperative 3-D view of vascular tree
Images match.
For the purpose of the 3-D view gathering anatomic region, terms used herein " preoperative " is by extensively
Any activity that justice performs before, during or after being defined as describing the endoscopic imaging of anatomic region,
And terms used herein " in art " is defined broadly the endoscopic imaging phase into describing anatomic region
Between or any activity relevant with the endoscopic imaging of anatomic region.The endoscopic imaging of anatomic region
Example includes but not limited to, CABG, bronchoscopy, colonoscopy, laparoscopy and brain
Splanchnoscopy.
Read in conjunction with the accompanying the present invention, from various embodiments of the present invention described in detail below, this
The aforementioned forms of invention and the various feature and advantage of other forms and the present invention will become more to show and
It is clear to.The detailed description and the accompanying drawings of the present invention are only exemplifying rather than restrictive, the present invention
Scope defined by accessory claim and equivalent thereof.
Accompanying drawing explanation
Fig. 1 illustrates the robot according to the present invention and guides the exemplary embodiment of system.
Fig. 2 illustrates the flow process of the exemplary embodiment representing the robot bootstrap technique according to the present invention
Figure.
Fig. 3 illustrates the exemplary surgical operation embodiment of flow chart shown in figure 2.
Fig. 4 illustrates the flow chart of the exemplary embodiment representing the Graphic Pattern Matching method according to the present invention.
Fig. 5 and Fig. 6 illustrates the exemplary order of the main graphic of the vascular tree according to the present invention.
Fig. 7 illustrates the exemplary superposition according to the geometric representation on the endoscopic images of the present invention.
Fig. 8 illustrates according to the exemplary robot path in the superposition that figure 7 illustrates of the present invention.
Fig. 9 illustrates the flow chart representing the vein method for registering according to the present invention.
Figure 10 illustrates the vein/tremulous pulse represented according to the present invention and integrates the first embodiment of method for registering
Flow chart.
Figure 11 illustrates the vein/tremulous pulse represented according to the present invention and integrates the second embodiment of method for registering
Flow chart.
Figure 12 illustrates the flow chart of the second embodiment representing the geometric precision correction method according to the present invention.
Detailed description of the invention
As illustrated in fig. 1, robot guides system to use robot cell 10 and control unit 20,
Carry out any endoscopic procedure, this vascular tree relating to there is one or more bifurcated (that is, branch)
Endoscopic imaging.The example of such endoscopic procedure includes, but not limited to minimal invasive cardiac surgery
Operation (such as, coronary artery bypass grafting or mitral valve replacement).
Robot cell 10 includes robot 11, is rigidly attached to endoscope 12 and of robot 11
It is attached to the video capture device 13 of endoscope 12.
In this article, robot 11 is defined broadly as needing structurally according to specific endoscope process
It is configured with any machine that the motorization of the one or more nodes for handling end-effector controls
Device people's equipment.It practice, robot 11 can have four (4) individual degree of freedom, such as, such as,
There is the serial manipulator of the node being connected in series with rigidity fragment, have, with shunt sequence, (example is installed
Such as, stewart platform known in the art) node and the parallel robot of rigidity fragment or series connection
Any merging combination with stamp identification.
In this article, endoscope 12 is defined broadly and has from body in-vivo imaging for being structurally configured
Any equipment of ability.In order to reach the purpose of the present invention, the example of endoscope 12 includes but does not limits
In, elastic or any kind of sight glass (such as, endoscope, arthroscope, the bronchus of rigidity
Sight glass, bile speculum, colonoscope, cystoscope, duodenoscope, gastroscope, hysteroscope, peritoneoscope,
Laryngoscope, neuroendoscopy, otoscope, propelling movement intestinal mirror, rhinolaryngoscope, romanoscope, hole sight glass, breast
Chamber mirror etc.) and be similar to be equipped with imaging system (such as, the nested cannula of imaging) sight glass appoint
What equipment.Imaging is local, and utilize fibre optics, lens and miniaturization (such as, based on
CCD) imaging system can obtain surface image optically.
It practice, endoscope 12 is installed on the end-effector of robot 11.Robot 11
The posture of end-effector is end-effector position in the coordinate system of robot 11 executor and takes
To.In the case of endoscope 12 is installed to the end-effector of robot 11, in anatomic region
Any given posture of visual field of endoscope 12 corresponding to the robot 11 in robot coordinate system
The different gestures of end-effector.Therefore, endoscope 12 vascular tree generated each individually in peep
The corresponding posture of the endoscope 12 that mirror image can be linked in anatomic region.
In this article, video capture device 13 is defined broadly as being structurally configured to have in the future
In the art of endoscope 12, endoscopic video signal is converted into endoscopic images in art (" IOEI ") 14
Any equipment of computer-readable seasonal effect in time series ability.It practice, video capture device 13 can be adopted
Use any kind of frame grabber, with capture from the independent Digital Still of endoscopic video signal in art
Frame.
Again referring to Fig. 1, control unit 20 includes robot controller 21 and endoscope's controller 22.
In this article, robot controller 21 is defined broadly as needing in structure according to endoscopic procedure
On be configured to robot 11 provide one or more robotic actuator order (" RAC ") 26 with
Control any controller of the posture of the end-effector of robot 11.More specifically, robot control
Endoscope position order (" EPC ") 25 from endoscope's controller 22 is converted into machine by device 21 processed
Device people's actuator commands 26.Such as, endoscope position order 25 may indicate that and leads in anatomic region
The endoscopic path of the expectation 3D position of the visual field of endoscope 12, robot controller 21 will life whereby
Making 25 to be converted into order 26, described order 26 includes the execution required for each motor of robot 11
Electric current, to move to endoscope 12 expect 3D position.
In this article, endoscope's controller 22 is defined broadly as being configured structurally to according to this
Invention and example shown in figure 2 implement any controller of robot bootstrap technique.In order to reach
This purpose, endoscope's controller 22 can merge image processing module (" IPM ") 23, and it is at this
Literary composition is defined broadly the anatomical object image registration for being configured structurally to perform the present invention
Any module.Especially, vascular tree image registration is by step S32 of flow process Figure 30 shown in figure 2
Enforcement exemplary with S33.Endoscope's controller 22 can also merge visual servo module (" VSM ")
24, it is defined broadly in this article as being configured structurally to generate endoscope position order 25
Any module, endoscope 12 in anatomic region is led in described endoscope position order 25 instruction
The endoscopic path of the hope 3D position of visual field.Especially, endoscope position order 25 is from by figure
The vascular tree image registration of the exemplary enforcement of step S34 of flow process Figure 30 shown in 2 is derived.
To provide the description of flow process Figure 30 now in this article, in order to endoscope's controller 22
It is further appreciated by.
With reference to Fig. 2, step S31 of flow process Figure 30 comprises the preoperative 3D of any anatomic region from health
Image extracts the geometric representation of vascular tree (such as, the bifurcated of tremulous pulse, blood capillary or vein).
Such as, as figure 3 illustrates, (such as, CT equipment, X-ray set operation 3D imaging device
Standby or MRI machine) generate the left side and the trouble of the right coronary artery 51 and 52 illustrating patient 50
The preoperative 3D rendering 42 of the chest region of person 50.Thereafter, vessel tree extraction device 43 is operated, with from figure
As extracting the geometric representation 44 of coronary arterial tree in 42, it can be stored in data base 45.Real
On border, Philip the Brilliance iCT scanning device sold may be used for generating image 42, Yi Jicong
Image 42 extracts the 3D data set of coronary arterial tree.
Referring back to Fig. 2, step S32 of flow process Figure 30 comprises image processing module 23, described image
The figure of endoscopic images in one or more arts of vascular tree 14 (Fig. 1) is represented by processing module 23
Represent with the figure of the preoperative 3D rendering 44 (Fig. 1) of vascular tree and mate.Such as, as at Fig. 3
Shown in, splanchnoscopy video in the art of the chest region that endoscope 12 generates patient 50, institute
State splanchnoscopy video in art and captured and be converted into Shu Zhong endoscope figure by video capture device 13
As 14, the image processing module 23 of endoscope's controller 22 is peeped in the art of coronary arterial tree whereby
The figure of mirror image 14 represents that the figure of the preoperative 3D rendering 44 with coronary arterial tree represents to be carried out
Join.In an exemplary embodiment, image processing module 23 performs by the flow process that figure 4 illustrates
The vascular tree image matching method of the present invention of the exemplary expression of Figure 60, in this article, described vascular tree
Image matching method by vascular tree be coronary arterial tree background under be described.
With reference to Fig. 4, step S61 of (blood vessel) flow process Figure 60 comprises image processing module 23, described
Image processing module 23 according to any method for expressing known in the art from the geometric representation of coronary arterial tree
Middle generation coronary arterial tree main graphic.Such as, as shown in step S61, coronary arterial tree
Geometric representation 70 is converted to main graphic 71, and described main graphic 71 has expression coronary arterial tree geometry
Represent the node of each bifurcated (such as, branch or trifurcation) of 70, and also have at knot
Branch between point connects.By C-arm angiography or other suitable systems in the preoperative (such as,
At endo-surgical a few days ago or prior to endoscope 12 is introduced any time in patient 50)
Or art can perform step S61.
Step S62 of flow process Figure 60 comprises image processing module 23, described image processing module 23
According to any graphical representation method known in the art from endoscopic images 14 art visible crown dynamic
A part for arteries and veins tree generates coronary arterial tree spirte.Specifically, endoscope 12 is introduced in trouble
Person 50, and image processing module 23 performs the Coronary Artery Structure in endoscopic images in art 14 whereby
Detection.It practice, some artery structures can be visible, and other artery structures can be by fat
Fat organized layer hides.Just because of this, image processing module 23 can process operation (example by known image
As, by the different red threshold test of visible Coronary Artery Structure) implement visible coronary artery knot
The automatic of structure detects, or surgeon can manually use input equipment to come on a computer display
Draw the profile of visible Coronary Artery Structure.Based on the detection to artery structure, image processing module 23
Coronary arterial tree figure is generated in the way of being similar to generate coronary arterial tree main graphic.Such as, as
Shown in step S62, the geometric representation 72 of Coronary Artery Structure is converted to figure 73, described figure
Shape 73 has each bifurcated (such as, branch or three pieces points representing coronary arterial tree geometric representation 72
Fork) node, and also there is branch between node connect.Owing to tree both is from identical
People, it will be appreciated that be the son of the figure derived from 3D rendering from the figure of endoscopy image derivation
Figure.
Step S63 of flow process Figure 60 comprises image processing module 23, described image processing module 23
According to any of Graphic Pattern Matching method (such as, maximum common spirte or McGregor (McGregor)
Common spirte) spirte is mated with main graphic.Such as, as shown in step S63,
The node of spirte 73 is mated with the subset of the node of main graphic 71.
It practice, spirte 73 only partially can be detected in endoscopic images 14 in art,
Or some node/connections of spirte 73 can lack in endoscopic images 14 in art.In order to improve
The matching precision of step S62, it is possible to implement main graphic 71 and the additional sequences of spirte 73.
In one embodiment, known orientation based on patient 50 during the image scanning of step S61
Implement the vertical junction dot sequency of main graphic 71.Specifically, main graphic node can link with being directed,
To preserve the top-down order as shown in the most exemplary via solid arrow.For spirte
73, patient 50 can be unknown relative to the orientation of endoscope 12.It is well known, however, that when crown
During the top-down extension of the branch of arterial tree, they are diametrically reducing, then endoscopic images in art
The artery size of the change of 14 medium-sized artery branches may indicate that orientation.
In another embodiment, known orientation based on patient 50 during the image scanning of step S61
The horizontal junction dot sequency of main graphic 70 can be implemented.Specifically, main graphic node can be directed ground
Link, to preserve the order of node from left to right as shown in the most exemplary via dotted arrow.
For spirte 73, in the case of the orientation of the patient 50 to endoscope 12 is likely to be the unknown,
By the surgeon in operation or auxiliary device, spirte 73 can be set via graphical user interface
Horizontal junction dot sequency.
Although the use of order can reduce the time for mating figure, and reduces possible coupling
Quantity, still can obtain the multiple couplings between figure by matching algorithm in theory.In flow process Figure 30
Step S33 during solve the situation of such multiple coupling.
Referring again to Fig. 2, coupling based on figure, step S33 of flow chart comprises the preoperative of vascular tree
The geometric representation of 3D rendering 44 (Fig. 1) is superimposed upon in the art of vascular tree on endoscopic images 14.Logical
Cross and use the geometric representation uniquely associated with main graphic to complete this operation.Thus, use perspective transform,
Whole geometry can be directly translated as endoscopic images 14 in art.Use known in the art
Join algorithm (such as, homography coupling) from art in endoscopic images 14 and preoperative 3D rendering 44
Node can detect perspective transform.
Such as, Fig. 7 illustrates and has the node that the node 91-95 with endoscopic images in art 90 mates
The geometric representation 80 of coronary arterial tree.Each node between node 91-95 between distance
Be determined for the scale factor of geometric representation 80, thus as illustrated make geometric representation 80 energy
Endoscopic images 90 in enough superposition arts.
If it practice, the Graphic Pattern Matching of step S32 (Fig. 2) produces multiple results, then can be by institute
Possible Overlapping display is to surgeon, and surgeon can select via graphical user interface whereby
Surgeon is considered the matching result of most probable coupling.Endoscope 12 phase is known in view of surgeon
Position at least some structure in endoscopic images in Rhizoma Atractylodis Macrocephalae 14, selection can be relatively easy.
Referring back to Fig. 2, step S34 of flow process Figure 30 comprises visual servo module 24, described vision
Servo module 24 at the geometric representation of the preoperative 3D rendering 44 (Fig. 1) of vascular tree to the art of vascular tree
Endoscopic path is generated in the superposition of middle endoscopic images 14 (Fig. 1).Based on endoscopic path, depending on
Feel that servo module 24 generates endoscope position order 25 to robot controller 21, to peep interior whereby
Mirror 12 (Fig. 1) guides the desired locations to anatomic region along endoscopic path.Specifically,
Once find accurate superposition, can order robot 11, exist endoscope 12 is guided to surgeon
The position selected on preoperative 3D rendering 44.Surgeon or auxiliary device can select the point of vascular tree,
And robot 11 can be with guiding endoscope 12 along any suitable path towards desired locations.Such as,
As figure 9 illustrates, endoscope 12 can be moved to by robot 11 along shortest path 101
Desired locations 100, or move to desired locations 100 along coronarypathy 102.Due to along with machine
Device people 11 moves endoscope 12, and coronarypathy 102 allows surgeon to observe arteries visible, hat
Shape arterial path 102 is preferred embodiment.Determine to mate whether become additionally, it contributes to surgeon
Merit.Use methods known in the art (such as, the thorough shortest path first of enlightening Coase) that hat can be defined
Shape arterial path 102.
It practice, the not calibrated visual servo that use has mobile telecommunication center can order robot 11
Movement, and the visual field of endoscope 12 can be extended, bigger to realize during coupling step S32
Spirte (such as, the splicing of endoscopic images 14 in art known in the art).
As described previously herein, the step 32 of flow process Figure 30 as shown in Figure 2 and 33 expressions relate to list
The vascular tree image registration of the present invention of individual vascular tree.Extraly, carry under the background of coronary arterial tree
For being previously described of step S32 and S33, in order to step S32 and the understanding of S33.It practice,
The vascular tree image registration of the present invention can relate to any kind of two in any anatomic region of health
(2) individual or more vascular tree.
Arterial tree in any anatomic region (especially coronary district) of health and the background of venous tree
Under, Fig. 9-11 illustrates step S32 and/or other embodiments of step S33 (Fig. 1).These are real
Execute example and perform graphic hotsopt and node according to the principle of flow process Figure 60 (Fig. 4) of prior teachings such as herein
Coupling.
With reference to Fig. 9, flow process Figure 111 represents venous tree method for registering images, described venous tree image registration
Method relate to the pre-operative image of the main graphic of endoscopic images and venous tree in the art to venous tree
Joining, the pre-operative image of described venous tree is used as endoscopic images in the art of anatomic region and anatomic region
Preoperative 3D rendering carry out the basis that registrates.
Specifically, step S111 of flow process Figure 110 comprises image processing module 23, at described image
Reason module 23 performs in the art to venous tree between endoscopic images and the preoperative 3D rendering of venous tree
Venous tree Graphic Pattern Matching.Such as, as shown in step S111 of Fig. 9, the art of venous tree is generated
The spirte 123 of endoscopic images 122 in the main graphic 121 of front 3D rendering 120 and the art of venous tree,
And the node of spirte 123 mates with the particular subset of the node of main graphic 121.Result is to solution
Cut open the registration of the preoperative 3D rendering of endoscopic images and anatomic region in the art in region.
Step S112 of flow process Figure 110 comprises image processing module 23, described image processing module 23
Perform the generation of the superposition of the pre-operative image of arterial tree as known in the art, described arterial tree preoperative
The superposition of image is that the relative localization from the arterial tree in the pre-operative image of anatomic region with venous tree is led
Go out.Such as, as shown in step S112 of Fig. 9, the pre-operative image 130 of arterial tree is to dynamic
In the art of arteries and veins tree, the superposition on endoscopic images 132 is the preoperative figure from arterial tree (being shown in broken lines)
The relative localization of the pre-operative image 120 of picture 130 and venous tree is derived.
With reference to Figure 10, flow process Figure 140 represents that vascular tree method for registering images, described vascular tree image are joined
Quasi-method relates to following combination: (1) is to the spirte of endoscopic images in the art of arterial tree and tremulous pulse
The arterial tree coupling of main graphic of pre-operative image, and (2) are to endoscopic images in the art of venous tree
Spirte mate with the venous tree of the main graphic of the pre-operative image of venous tree.
Specifically, step S141 of flow process Figure 140 comprises image processing module 23, at described image
Reason module 23 performs in the art to arterial tree between endoscopic images and the preoperative 3D rendering of arterial tree
Arterial tree Graphic Pattern Matching.Such as, as shown in step S141 of Figure 10, arterial tree is generated
The spirte of endoscopic images 132 in the main graphic 131 of preoperative 3D rendering 130 and the art of arterial tree
133, and the node of spirte 133 mates with the particular subset of the node of main graphic 131.
Step S142 of flow process Figure 140 comprises image processing module 23, described image processing module 23
Perform in the art of venous tree endoscopic images to the venous tree figure between the preoperative 3D rendering of venous tree
Coupling.Such as, as shown in step S142 of Figure 10, the preoperative 3D rendering of venous tree is generated
The spirte 123 of endoscopic images 122 in the main graphic 121 of 120 and the art of venous tree, and subgraph
The node of shape 123 mates with the particular subset of the node of main graphic 121.
Step S143 of flow process Figure 140 comprises image processing module, described image as known in the art
The arterial tree of step S141 is mated and the venous tree coupling of step S142 by processing module with geometric ways
It is combined.
Indeed, it is possible to serial execution or parallel execution of steps S141 and S142 in any order.
With reference to Figure 11, flow process Figure 150 represents that vascular tree method for registering images, described vascular tree image are joined
Quasi-method relates to following integration: (1) is to the spirte of endoscopic images in the art of arterial tree and tremulous pulse
The arterial tree coupling of main graphic of pre-operative image, and (2) are to endoscopic images in the art of venous tree
Spirte mate with the venous tree of the main graphic of the pre-operative image of venous tree.
Specifically, step S151 of flow process Figure 150 comprises image processing module 23, at described image
Reason module 23 generates arterial tree and the master of venous tree from the corresponding pre-operative image of arterial tree and venous tree
Figure, and step S152 of flow process Figure 150 comprises the main graphic of arterial tree and the main graphic of venous tree
Integration.It practice, owing to relating to heart area, be not connected to arterial tree and vein on existed facts
The single puncta vasculosa of tree.Just because of this, the main graphic of arterial tree and venous tree substantially separates.
While it is true, can there be multiple point in heart area anatomical structure, dissect knot at described heart area
In structure, tremulous pulse node and vein node are with inessential distance separately.These nodes may be considered that
It is the purpose meeting step S152, and thus can build the single tree engaged at these nodes.
Such as, as shown in step S152 of Figure 11, the node of the main graphic 121 of venous tree
124 and the node 134 of main graphic 131 of arterial tree in the preoperative volumetric image of heart area with unrelated
Therefore critical distance separately, and, is putting quilt at 161 in the preoperative volumetric image of heart area
Engage, to form the vascular tree figure 160 integrated.
Step S153 of flow process Figure 150 comprises image processing module 23, described image processing module 23
Endoscopic images generates from the corresponding art of arterial tree and venous tree arterial tree and the subgraph of venous tree
Shape, and step S154 of flow process Figure 150 comprises the spirte to arterial tree and venous tree and integration
The Knot Searching of vascular graphic.Such as, as shown in step S154 of Figure 11, generation dynamic
The spirte 122 of the spirte 132 of arteries and veins tree and the venous tree of generation and the vascular tree figure 160 integrated
Coupling.
It practice, alternatively, the integration of the main graphic of vascular tree can occur the spirte at vascular tree
At the independent coupling of corresponding main graphic.
Referring back to Fig. 2, step S32-S34 can disposably be performed, or on a periodic basis
Perform, until endoscope 12 has been moved to the desired locations in anatomic region by robot 11
Time, or multiple times of surgeon's instruction.
In the alternative of flow process Figure 130, when in anatomic region (especially heart area)
During one or more upper execution surgical operation in vascular tree, in order to reach to update the purpose of image registration,
Step S35 can be performed.Such as, after completing bypass, the art China and foreign countries of the bypass in heart area
In section's operative image (such as, endoscopic images or X-ray angiography image), arterial tree
Recently it will be visible for introducing topological structure, and will be not on the preoperative volumetric image of heart area
Visible.Use the Graphic Pattern Matching algorithm such as the present invention described previously herein, will be from art surgery
The arterial tree of image mates with the arterial tree from preoperative volumetric image.Based on described registration, logical
Cross and add a new node (distal anastomosis position) and a connection (bypass) to main graphic, can
To update the main graphic of preoperative volumetric image.
Flow process Figure 170 that figure 12 illustrates represents step S35 and one of step S31 (Fig. 2)
Embodiment.Step S171 of flow process Figure 170 comprises and carries from the art surgery image of anatomic region
Take vascular tree, and step S172 comprises the registration to art surgery image Yu preoperative volumetric image.
Such as, as shown in step S172 of Figure 12, endoscopic images 14 from the art of heart area
Or in art in X-ray angiography image 15 extract arterial tree 133 surgical operation image 180,
Described image 180 illustrates bypass 181.Generate the main graphic 182 of image 180, new link node 183
Represent bypass.Main graphic 182 is that the main graphic with preoperative volumetric image is (such as, as shown in Fig. 10
The arterial tree image 130 gone out and main graphic 131) node that mates.
Step S173 of flow process Figure 170 comprises the renewal to preoperative volumetric image.It practice, update
Image 133 can completely illustrate whole arterial tree, maybe can get rid of the bypass segment of whole arterial tree.
Such as, as shown in step S173 of Figure 12, the more new images 133a of preoperative volumetric image 133
Illustrate the whole arterial tree including bypassing 181, or the more new images 134b of preoperative volumetric image 133
Illustrate the arterial tree of the bypass segment not including arterial tree.
Flow process Figure 170 returns to step S32 (Fig. 2), and in this step, the image 133 of renewal can
Reregister with preoperative volumetric image 44 for by endoscopic images in art 12, and in step
Guided robot 11 during S32-S34.
Referring back to Fig. 1, indeed, it is possible to by being incorporated in endoscope as shown controller 22
Hardware, software and/or firmware implement module 23 and 24.
From the description of this paper Fig. 1-12, it should be recognized by those skilled in the art that the many of the present invention
Advantage includes but not limited to, the present invention be applied on any type of vessel perform any kind of in
Sight glass checks surgical operation.
Although describe the present invention by reference to exemplary aspect, feature and embodiment, but disclosed
System and method be not limited to such exemplary aspect, feature and/or embodiment.On the contrary, ability
Field technique personnel will become apparent from from description provided herein, disclosed system and method allow without departing from
Modify in the case of the spirit or scope of the present invention, change and improve.Therefore, the present invention is clear and definite
Ground comprises this amendment in the range of it, changes and improve.
Claims (13)
1. a figure registration system, including:
Endoscope (12), the Shu Zhong endoscope of its vascular tree being operable in generating anatomic region
Image (14)；And
Endoscope's controller (22), it is operable to for by the described Shu Zhong endoscope of described vascular tree
Image (14) carries out image registration with the preoperative 3-D view (44) of described vascular tree,
Wherein, endoscopic images (14) during described image registration includes the described art to described vascular tree
The figure of each bifurcated of interior described vascular tree represents the described preoperative 3-D view with described vascular tree
(44) the figured images match of each bifurcated of the described vascular tree in,
Wherein, described images match includes:
Generate the master map that the geometric representation of the described preoperative 3-D view (44) from described vascular tree is derived
Shape, described main graphic includes the main collection of link node, and described link node represents the institute of described vascular tree
State each bifurcated of described vascular tree in preoperative 3-D view (44)；And
Generate the son that the geometric representation of endoscopic images (14) is derived from the described art of described vascular tree
Figure, described spirte includes the subset of the described main collection of link node, and described link node represents institute
Each bifurcated of the described vascular tree stated in the described art of vascular tree in endoscopic images (14)；And
Described spirte and described main graphic are carried out Knot Searching.
Figure registration system the most according to claim 1, wherein, described endoscope controller (22)
Can also operate and be used for, change in response to any surgical operation in the topological structure of described vascular tree
Update endoscopic images (14) in the described art of described vascular tree and described vascular tree is described preoperative
The described image registration of 3-D view (44).
Figure registration system the most according to claim 1, wherein, described endoscope controller (22)
Can also operate and be used for, change in response to any surgical operation in the topological structure of described vascular tree
Update endoscopic images (14) in the described art of described vascular tree and described vascular tree is described preoperative
The described image registration of 3-D view (44),
Wherein, any during described main graphic is revised to reflect that the described topological structure of described vascular tree
Surgical operation changes.
4. a figure registration system, including:
Endoscope (12), it is operable to for generating the anatomic region including arterial tree and venous tree
Endoscopic images (14) in art；And
Endoscope's controller (22), it is operable to for by endoscopic images (14) in described art
The preoperative 3-D view (44) of described arterial tree and described anatomic region carry out image registration,
Wherein, endoscopic images (14) during described image registration includes the described art to described anatomic region
The figure of each bifurcated of interior described venous tree represents the described preoperative graphics with described anatomic region
As the figured vein image coupling of each bifurcated of the described venous tree in (44),
Wherein, described vein image coupling includes:
Generation is quiet from the geometric representation derivation of the described preoperative 3-D view (44) of described anatomic region
Arteries and veins main graphic, described vein main graphic includes that the main collection of vein node, described vein node represent in institute
State each bifurcated of described venous tree in the described preoperative 3-D view (44) of anatomic region, and
Generate what the geometric representation of endoscopic images (14) from the described art of described anatomic region was derived
Vein spirte, described vein spirte includes the subset of the described main collection of vein node, described vein
Node represents the every of the described venous tree in the described art of described anatomic region in endoscopic images (14)
Individual bifurcated.
Figure registration system the most according to claim 4, wherein, described endoscope controller (22)
Can also operate and be used for, update in response to any surgical operation in the topological structure of vascular tree
Described preoperative three-dimensional to endoscopic images (14) in the described art of described vascular tree Yu described vascular tree
The described image registration of image (44).
Figure registration system the most according to claim 5, wherein, described image registration also includes
To the described arterial tree in the described preoperative 3-D view (44) of described anatomic region and described anatomical area
The determination of the relative localization of the described venous tree in the described preoperative 3-D view (44) in territory.
Figure registration system the most according to claim 4, wherein, it is right that described image registration includes
Each bifurcated of the described arterial tree in endoscopic images (14) in the described art of described anatomic region
It is every that figure represents with the described arterial tree in the described preoperative 3-D view (44) of described anatomic region
The figured arterial images coupling of individual bifurcated.
Figure registration system the most according to claim 7,
Wherein, described vein image coupling includes:
The geometric representation generating the described preoperative 3-D view (44) from described anatomic region is derived
Vein main graphic, described vein main graphic includes that the main collection of vein node, described vein node represent
Each bifurcated of the described venous tree in the described preoperative 3-D view (44) of described anatomic region, and
And
Generate the geometric representation of endoscopic images (14) from the described art of described anatomic region to lead
The vein spirte gone out, described vein spirte includes the subset of the described main collection of vein node, described
Vein node represents the described venous tree in the described art of described anatomic region in endoscopic images (14)
Each bifurcated；And
Wherein, described arterial images coupling includes:
The geometric representation generating the described preoperative 3-D view (44) from described anatomic region is derived
Tremulous pulse main graphic, described tremulous pulse main graphic includes that the main collection of tremulous pulse node, described tremulous pulse node represent
Each bifurcated of the described arterial tree in the described preoperative 3-D view (44) of described anatomic region, and
And
Generate the geometric representation of endoscopic images (14) from the described art of described anatomic region to lead
The tremulous pulse spirte gone out, described tremulous pulse spirte includes the subset of the described main collection of tremulous pulse node, described
Tremulous pulse node represents the described arterial tree in the described art of described anatomic region in endoscopic images (14)
Each bifurcated.
Figure registration system the most according to claim 8,
Wherein, described vein image coupling also includes described vein spirte and described vein main graphic
Vein Knot Searching；
Wherein, described arterial images coupling also includes described tremulous pulse spirte and described tremulous pulse main graphic
Tremulous pulse Knot Searching；And
Wherein, described image registration also includes described vein Knot Searching and described tremulous pulse Knot Searching
Combination.
Figure registration system the most according to claim 8,
Wherein, described image registration also includes described vein main graphic and the integration of described tremulous pulse main graphic；
Wherein, described vein image coupling also includes the vein to described vein spirte Yu described integration
Knot Searching, described in be integrated into described vein main graphic and the integration of described tremulous pulse main graphic；And
Wherein, described arterial images coupling also includes described tremulous pulse spirte and described vein main graphic
The tremulous pulse Knot Searching of the described integration with described tremulous pulse main graphic.
11. figure registration systems according to claim 8, wherein, described endoscope controller
(22) can also operate and be used for, change in response to any surgical operation in the topological structure of vascular tree
Update endoscopic images (14) and the described art of described vascular tree in the described art to described vascular tree
The described image registration of forward three-dimensional viewing (44),
Wherein, described tremulous pulse main graphic is revised to reflect that in the described topological structure of described vascular tree
Any surgical operation changes.
12. figure registration systems according to claim 11, wherein, to described tremulous pulse main graphic
Amendment include to described tremulous pulse main graphic, new node, extra Node connectedness is represented described vascular tree
Extra bifurcated surgical operation create.
13. figure registration systems according to claim 11, wherein, to described tremulous pulse main graphic
Amendment include separating in the described node of described tremulous pulse main graphic, the node of separation represents institute
The surgical operation stating one in the described bifurcated of vascular tree removes.
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